EP2682237A3 - Robot control apparatus and robot control method - Google Patents

Robot control apparatus and robot control method Download PDF

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Publication number
EP2682237A3
EP2682237A3 EP13174469.0A EP13174469A EP2682237A3 EP 2682237 A3 EP2682237 A3 EP 2682237A3 EP 13174469 A EP13174469 A EP 13174469A EP 2682237 A3 EP2682237 A3 EP 2682237A3
Authority
EP
European Patent Office
Prior art keywords
robot control
electric motors
constraint
robot arm
constraint conditions
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
EP13174469.0A
Other languages
German (de)
French (fr)
Other versions
EP2682237A2 (en
EP2682237B1 (en
Inventor
Yohji Nakajima
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Canon Inc
Original Assignee
Canon Inc
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Canon Inc filed Critical Canon Inc
Publication of EP2682237A2 publication Critical patent/EP2682237A2/en
Publication of EP2682237A3 publication Critical patent/EP2682237A3/en
Application granted granted Critical
Publication of EP2682237B1 publication Critical patent/EP2682237B1/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J13/00—Controls for manipulators
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1628—Programme controls characterised by the control loop
    • B25J9/1633—Programme controls characterised by the control loop compliant, force, torque control, e.g. combined with position control
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/06—Safety devices
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/06—Programme-controlled manipulators characterised by multi-articulated arms
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
    • B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
    • G—PHYSICS
    • G11—INFORMATION STORAGE
    • G11B—INFORMATION STORAGE BASED ON RELATIVE MOVEMENT BETWEEN RECORD CARRIER AND TRANSDUCER
    • G11B3/00—Recording by mechanical cutting, deforming or pressing, e.g. of grooves or pits; Reproducing by mechanical sensing; Record carriers therefor
    • G11B3/02—Arrangements of heads
    • G11B3/10—Arranging, supporting, or driving of heads or of transducers relatively to record carriers
    • G11B3/34—Driving or guiding during transducing operation
    • G—PHYSICS
    • G16—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR SPECIFIC APPLICATION FIELDS
    • G16Z—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR SPECIFIC APPLICATION FIELDS, NOT OTHERWISE PROVIDED FOR
    • G16Z99/00—Subject matter not provided for in other main groups of this subclass
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/40—Robotics, robotics mapping to robotics vision
    • G05B2219/40454—Max velocity, acceleration limit for workpiece and arm jerk rate as constraints
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/40—Robotics, robotics mapping to robotics vision
    • G05B2219/40519—Motion, trajectory planning

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)

Abstract

A robot control apparatus controls a robot arm driven by transmitting drive forces to joints from respective electric motors so that the robot arm follows a specified trajectory, based on an instruction value instructed against the electric motors. A movable range of the robot arm is divided into multiple spaces, and constraint conditions including a constraint value of a jerk for each joint, which is determined so that a load torque applied to a transmitting component of the drive force falls within an allowable range in the multiple spaces, is calculated in advance. The constraint conditions are stored in a storage unit. A calculating unit generates the instruction values for the electric motors based on the trajectory by solving an optimization problem that uses the constraint conditions stored in the storage unit as an inequality constraint.
EP13174469.0A 2012-07-05 2013-07-01 Robot control apparatus and robot control method Active EP2682237B1 (en)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
JP2012151733A JP6128767B2 (en) 2012-07-05 2012-07-05 Robot control apparatus and robot control method

Publications (3)

Publication Number Publication Date
EP2682237A2 EP2682237A2 (en) 2014-01-08
EP2682237A3 true EP2682237A3 (en) 2017-03-29
EP2682237B1 EP2682237B1 (en) 2020-12-23

Family

ID=48782176

Family Applications (1)

Application Number Title Priority Date Filing Date
EP13174469.0A Active EP2682237B1 (en) 2012-07-05 2013-07-01 Robot control apparatus and robot control method

Country Status (4)

Country Link
US (1) US9421687B2 (en)
EP (1) EP2682237B1 (en)
JP (1) JP6128767B2 (en)
KR (1) KR20140005771A (en)

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CN109397295A (en) * 2018-12-12 2019-03-01 嘉兴极点科技有限公司 A kind of robot control system and method for artificial intelligence driving
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EP3993963A4 (en) * 2019-08-23 2022-08-24 Realtime Robotics, Inc. Motion planning for robots to optimize velocity while maintaining limits on acceleration and jerk
CN111053613B (en) * 2019-12-10 2020-10-13 联博智能科技有限公司 Motion tracking method and device, mechanical arm and computer readable storage medium
TW202146189A (en) 2020-01-22 2021-12-16 美商即時機器人股份有限公司 Configuration of robots in multi-robot operational environment
WO2021187378A1 (en) * 2020-03-18 2021-09-23 ファナック株式会社 Control device and program
JP2022039291A (en) * 2020-08-28 2022-03-10 セイコーエプソン株式会社 Operation parameter adjusting method and robot system
JP7359178B2 (en) * 2021-03-10 2023-10-11 横河電機株式会社 Control device, control method, and control program
CN113084814B (en) * 2021-04-13 2022-05-10 中国科学院自动化研究所 Method for realizing motion control of musculoskeletal robot based on distribution position optimization
CN113246107B (en) * 2021-07-06 2022-01-11 深圳市越疆科技有限公司 Method and device for dragging teaching speed limit of mechanical arm joint, electronic equipment and medium
CN113681543B (en) * 2021-08-25 2023-02-24 深圳亿嘉和科技研发有限公司 Mechanical arm zero-force control method based on model prediction
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Also Published As

Publication number Publication date
EP2682237A2 (en) 2014-01-08
EP2682237B1 (en) 2020-12-23
JP6128767B2 (en) 2017-05-17
JP2014014876A (en) 2014-01-30
KR20140005771A (en) 2014-01-15
US20140012419A1 (en) 2014-01-09
US9421687B2 (en) 2016-08-23

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